{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# A basic example\n",
    "\n",
    "The most basic usecase of TOPP-RA is compute the time-optimal\n",
    "time-parameterization subject to joint velocity and acceleration\n",
    "constraints. \n",
    "\n",
    "## Setup the problem\n",
    "\n",
    "First, we need to load `toppra`."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "metadata": {},
   "outputs": [],
   "source": [
    "# toppra\n",
    "import toppra as ta\n",
    "import toppra.constraint as constraint\n",
    "import toppra.algorithm as algo\n",
    "import numpy as np\n",
    "# misc: for plotting and measuring time\n",
    "import matplotlib.pyplot as plt\n",
    "import time"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "We now randomly choose 5 waypoints and fit a cubic spline through\n",
    "all five to obtain a geometric path."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "<toppra.interpolator.SplineInterpolator object at 0x7f106f59f750>\n"
     ]
    }
   ],
   "source": [
    "# Random waypoints used to obtain a random geometric path. Here,\n",
    "# we use spline interpolation.\n",
    "dof = 6\n",
    "np.random.seed(0)\n",
    "way_pts = np.random.randn(5, dof)\n",
    "path = ta.SplineInterpolator(np.linspace(0, 1, 5), way_pts)\n",
    "print(path)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Similarly, we choose a random set of velocity and acceleration constraints below.\n",
    "\n",
    "A constraint can have different `discretization_scheme`: `Interpolation` and `Collocation`.\n",
    "Generally, `Interpolation` leads to higher quality trajectory with a longer (slightly) computation time."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "JointAccelerationConstraint(\n",
      "    Type: ConstraintType.CanonicalLinear\n",
      "    Discretization Scheme: DiscretizationType.Interpolation\n",
      "    Acceleration limit: \n",
      "      J1: [-1.33353343  1.33353343]\n",
      "      J2: [-1.34127574  1.34127574]\n",
      "      J3: [-0.42076512  0.42076512]\n",
      "      J4: [-0.2578526  0.2578526]\n",
      "      J5: [-0.6308567  0.6308567]\n",
      "      J6: [-0.72742154  0.72742154]\n",
      ")\n"
     ]
    }
   ],
   "source": [
    "# Create velocity bounds, then velocity constraint object\n",
    "vlim_ = np.random.rand(dof) * 20\n",
    "vlim = np.vstack((-vlim_, vlim_)).T\n",
    "# Create acceleration bounds, then acceleration constraint object\n",
    "alim_ = np.random.rand(dof) * 2\n",
    "alim = np.vstack((-alim_, alim_)).T\n",
    "pc_vel = constraint.JointVelocityConstraint(vlim)\n",
    "pc_acc = constraint.JointAccelerationConstraint(\n",
    "   alim, discretization_scheme=constraint.DiscretizationType.Interpolation)\n",
    "\n",
    "print(pc_acc)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Notice that in the above printout, we have 6 acceleration joint limits with `Interpolation` `discretization_scheme`.\n",
    "\n",
    "## Solve TOPP\n",
    "\n",
    "We now solve for the time-optimal path parametrization."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Parameterization time: 0.00719380378723 secs\n"
     ]
    }
   ],
   "source": [
    "t0 = time.time()\n",
    "# Setup a parametrization instance, then retime\n",
    "instance = algo.TOPPRA([pc_vel, pc_acc], path, solver_wrapper='seidel')\n",
    "jnt_traj, aux_traj, int_data = instance.compute_trajectory(0, 0, return_data=True)\n",
    "print(\"Parameterization time: {:} secs\".format(time.time() - t0))"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "There are muliple solver wrapper to choose from: `seidel`, `hotqpoases`, `cvxpy`, etc.\n",
    "In general you should choose `seidel` because it is much faster than `hotqpoases`. However,\n",
    "be warned that `seidel` can fail for ill-posed path parametrization instances. \n",
    "\n",
    "Below we solve\n",
    "the same problem using different solver wrappers and compare their speeds."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 6,
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "seidel              : comp. time 0.0073 secs: traj dur. 18.343413 sec\n",
      "hotqpoases          : comp. time 0.0259 secs: traj dur. 18.343413 sec\n",
      "cvxpy               : comp. time 1.5985 secs: traj dur. 18.343420 sec\n"
     ]
    }
   ],
   "source": [
    "for solver_wrapper in ['seidel', 'hotqpoases', 'cvxpy']:\n",
    "    t0 = time.time()\n",
    "    instance = algo.TOPPRA([pc_vel, pc_acc], path, solver_wrapper=solver_wrapper)\n",
    "    traj, _ = instance.compute_trajectory(0, 0)\n",
    "    print(\"{:20}: comp. time {:.4f} secs: traj dur. {:4f} sec\".format(solver_wrapper, time.time() - t0, traj.get_duration()))"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "## Inspect solution\n",
    "\n",
    "\n",
    "The time-optimally retimed geometric path can be recovered easily."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 7,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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ECDsnlyXcQggt8E/gZiAfSBNCfCulPPxf43yAR4FdTrlxK2aina2iooIpU6bw0ksvMXx4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Iw0ysQOGDxqqaHNAwbLxYvI8vLATU+ZvABj/v1tIR29LY3Eo1m4RVrIsebjyb0rVrqUlQT8r85M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\nR/8LBQItyUzNgrAAAAAASUVORK5CYII=\n",
      "text/plain": [
       "<matplotlib.figure.Figure at 0x7f106c1a3550>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "ts_sample = np.linspace(0, jnt_traj.get_duration(), 100)\n",
    "qdds_sample = jnt_traj.evaldd(ts_sample)\n",
    "qds_sample = jnt_traj.evald(ts_sample)\n",
    "\n",
    "fig, axs = plt.subplots(1, 2, sharex=True, figsize=[12, 4])\n",
    "for i in range(6):\n",
    "    axs[0].plot(ts_sample, qdds_sample[:, i], label=\"J{:d}\".format(i + 1))\n",
    "    axs[1].plot(ts_sample, qds_sample[:, i], label=\"J{:d}\".format(i + 1))\n",
    "axs[0].set_xlabel(\"Time (s)\")\n",
    "axs[0].set_ylabel(\"Joint acceleration (rad/s^2)\")\n",
    "axs[0].legend()\n",
    "axs[1].legend()\n",
    "axs[1].set_xlabel(\"Time (s)\")\n",
    "axs[1].set_ylabel(\"Joint velocity (rad/s)\")\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "We can also inspect the solution in detail by looking at the returned `int_data` dictionary: The controllable sets and the time-optimal parametrization are plotted below.\n",
    "\n",
    "It is not hard to see that the returned parametrization (blue) is the fastest possible!"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 8,
   "metadata": {},
   "outputs": [
    {
     "data": {
      "image/png": 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rSc/A2qIF4e3bExITY6bbfMTbEU83VT3keqGqOUBPL9voC2xV1e2qWgx8CIwu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\nLxrN0d9+o2R3+ZwOo2jbNvb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WZs38mpLuLqJdO6JOP52c998PykQNb3nb8TyHYzTRWEQe\nBhYBXiUXOK/Z3AZ8C2wEPlLV9SIyTURGOXd7HUgUka3AXTgz0VR1PfARsAH4BrhVVe04rtssEpHV\nwG/A16rqWjz+MWCYiGwBznG+rhUlGRmgSlgdm2qz2Uu5++PVhIaE8O/RXTwquxJqDeXFqePpVnSA\nf6231dp1DYA/Fq/igr/P5D/7o+lWeoi51/Zg0m1jCKkjJYge/ccYkoty+dv8PexNKz94rxlbTg57\n/m8KO6+4Ent2Ds3/+xSJN1zvk7ZrIrJ7d0LPGcbMb1ZzaN/BgMXhK4WbNhHe0f/TbO4Srr4a2759\n5JobShFP79FwJhYkA9HAUEBwpCkH3cIdqampumLFiVchPrJgARk33cypH7xPVM+ePojMN/77/Z88\n9+MWnh7XnYt7ejcNmL0vi4sfm0tmaBRvjmxJvyF9/BQlZO3N5NEZX/FpSRINSgq4p2s0l004r850\nOO7WLFvL2Nlb6Wg7xOzHryI0rPKpy+oc+ekn9t7/APbcXBKvuYakm24kJCrKh9F679DRYq55aSF/\nHChktBzg2UevCWg8J6L06FE2904l6ZZbaPTX22rtvFpaStrYy7Dn5HDaN/MI8WMad6CIyMpyt7NU\nyOP/g51TXXNVdZOqzlDV6cHY6fhSyS5HAl5dGvH8uu0gz/+0hUt7J3vd6QAknJLIu7ecTUN7ERPm\npvPDF76/MU5tNr54eTZD/jOfT0uSGBOWxfx/DGX8NefXyU4HoFu/rvyrbQirwhvz8OM1uwhvz8tn\nz5R7yLjlVkKTkkj5+CMa3zU54J3OvtxCxr28lPVZxfQNzeMLbcwv807epZ2LtmwBVSI61e6IR0JC\naDR5MiV79nBo1slbjsoXarL0tf++4gaZ4ox0JCoKS0JCoEMBICuviDs/XEVKUjQPjupc43ZatjuV\n2X89m6a2fG5edIhPZ35T/UEeUFXyfv6ZJWOv4p4/oRHFfDq6Jf/590QSTqnbS0oAXD1pNBfKAd7M\nT+Drmd5NpxRt3UraZZeRO2cOSbfcTMpHs/x+j4kn9uYWcOlLv5KRc5S3runDG3ePpElRLvd+u42i\no4WBDq9GCjc6S+UE4O8b3f9Movr14+CLL1KaHxyJGjXhdVYbsEREtonIGrPkddVKdqUT1qKFX0rX\ne8tmL+WOD1dxqKCEGVf0Ijr8xO7qTz4tmU+mjKRdSQ53ry3hP4+/j91W82rWqsreKfew68abeKrp\nQDQikjf+dTE9zux+QnHWtsfvHU/r4hzu+T2fbYs9m67N/fprdlw2DntuLi3ffJNGt9/u17vpPWUv\nVSbPWkV2fjEfTDqdM9skERPXgAfObMKuiASeftZ/mXz+VLhpIyENGxLarPaXonelpzsSNd6p9fPX\nFd52POcCrYEhOJa6NkteV6E4Ix1rHSiVo6pM/XI9i7Ye5KGLutCxaUOftJtwSiKzpo5hUOkBZuTE\nMu4fb7Nv597qD6xA1muvkfvFFyz6y99Z2bAl/7ywCy0Ta/e+HF+Iio7k5VuHYLNYue29leTt3FXp\nvqpK5nPPs+dvdxPRvj0pn35CdL8TW7rBl175ZTtLt2czdVRnuiXHlW0fOXYog+37eT07mk1/bApg\nhDVTtHETER061PoXwpU7c+j97+8ZPT+Xxy64m2d/2hYUiRo14fXS18BhHFlkp7o9jHK0tJSS9AzC\n6kBx0Ld/TWPm0l3cOPA0Lkv1bWp3TFwDXnv8Gu5rWcQaSwLnPfsLH775tVejn7xFi8l8+hmOjryY\nZ4ua0b9NIlf2DfzfrabatG7GI+emsLFhMg/8eyb2Q4eO20dtNvbedx8HX3iB2Esu4dS338LaxOt6\nu36zJuMQT323mZFdT2Fs7+O/PD1083DCS2389e1lFJxEU25qt1P455+E19L9Oy5FNjv/98kaQi1C\ny4RodiW2ZOZpA7n32eArReQJb0vmXA/8giMV+kHnz6m+D+vkZ8vMRIuKAr4cwvzNB5j21QaGd2rC\n/53rnzntkJAQrrvlEmZf2prE0iKmbIYRd8/0KPEgP20Xcx6azgtnTWRS/CAAHh/TjZCQwE9PnoiL\nzunBVadF8ElSd6ZNeRG723y+/cgR0m+9ldzZn5B0y800ffihOjG15pJfZOOOD1fRqEE4j17crcKR\nQfPTknmkTyxbIpKY+tjJU9GgaNs2tKCAyC5davW8Ly3YztYDeTw2phuvTUhl/j3DuDoqh6+0CT/W\n4q0JdYW3E/13AH2Apao6WEQ64OV9PPVFSbojo80awAXglqdlc8vM3+nYtCHPjO/h9w/zbv268m3v\nTnzw1tc8tz6M65fkcer8dxmcCCMHdCSlnWMUU1qqLF24mm9WZbDQ1pC8HlcRFRrC4NOSmNi/Fcnx\ngc3i8pUHrx9C/vPf8DbdyLvnNZ544ibyF8xn38MPY8/K5pQHH6yVKtPeKC1V/vbRatKy8nn/+tOJ\njao8LXzU+GEsWv8Ws4ob0f/D7xk13v9LNZyowrVrAYjoeuILA3pq64EjzJi/lVHdmzG4feOy7f93\n1xh+uO9z7vvxEGcMyhc8d6kAAB0QSURBVK/1kk+B5G3HU6iqhSKCiISr6iYRqd0x60miuCyVOjAd\nz5qMQ1z75nKaxkXw1jV9iQrzzxIB5VlCLVx1/SjG5B3l3bfm8c02G+8cSeStb/bDN/uP2TfG1pAB\noYc5f9CpnDO0FxFWSyWtnpwsIcJTfx1B1LNzeG9/G47c+gy3//oOUR3b0+KFF4nsWrvfuj3x5Heb\n+Wb9Pu49vyNntK4+k/DBe8bzxz9n8c/l0XTvmcap7Vv5P8gTULBmLSENGxJ2au1cISgtVf756Toi\nwyzcd8Gxq79ENYjm30Nbcu3iwzz230+Y9sDVtRJTXeDtp1GGiMQBnwPfi0gOsNP3YZ38SjLSISQE\na9OmtX7uTfsOc/UbvxEXbeW96/vRqEF4rccQGRPFpNvGMAnHjaDfzVtGzuECwHFRvW1KYwaNOIew\niNqPrTaFhAgP3TmKmKc+5mW6UHzlv3npb+cTEVn3fu/ZKzN4YcE2Lu/bkuvOSvHomMioCGZMPJ2L\nZq7j2hd/4dP74olNrJ0yNDVRsGYNkV27IrV0P9ibv6bxW1o2T1zarcL/D4dcOIALf32DmflJjPr5\nd1IH9qqVuALN48oFxx0oMhBH8c5vnOvqBA1fVC7YfdddFKxZS5sfvvdRVJ5ZtzuXCW/8htUSwsc3\nnUGLhOCYtgoGby7ewYNfbuD00xJ49epUGkTUvLqBry3ZlsXVbyyjT6sE3r62L1aLdx/M3346n5uX\nHqGv/SDvPnIV1vC6c83KpbSggM2pfUicdAON77jD7+f7fVcOl720hMEdGvPKX3pXmkWXvS+L4Y9/\nT5jamfuvkcQ1qtVFkn3K55ULylPVn1V1TrB1Or5StH0HYa1Pq9VzLt2exfhXlhJhtfDBpNNNp1PH\nXNM/hWfH92BFWg6Xv7qUg3lFgQ4JgN92ZHPd28s5NTGaF67s5XWnA3DuJYO5p2UJS61NmPLv9ygt\n9bZ2sP8VbtwIdjuRXbv5/Vw5+cXc9t7vNI2L4Mmx3atM3U44JZFnzmvFvrAG3PH4Z3Xyb+dr3ma1\n3V/Rw1/Bnay0tJTiHTsIT6m9jueHDfu5+o3faBobwSc3n0lKUv25UHkyGd2jOa9OSGXrgTz+v737\njq+qyhY4/ltJSEIgdEIf6VUFpIsiICpgQREpgr1hr+OA5aljV4biDKIoKoOK+AAH9KGACogCCYEg\noZNCCyQkIQmEkpBkvT/u4b0rRVJuSVnfzycfcs/d5+x9OEnW3Wfvs9ctH6xmX8Yxv7Ynetch7vo0\nivrVQ/nyvh7UCCt+T+W+R25mdGga8/IimDjBv+kzzub4Rtez7t4eWysoUJ78egNp2bm8f2uXP005\ncsplV/fk0YhjrAiqx9QppSPvlTcV9aPNUbevfFxJ15p6uE1l3sn9+11TqZsX7j55SagqM35N5P5Z\n0bSrH87XD/SifvVQr9driq9fmwi+uLcH6dk5DJu2mh0p/snsGr3rEHd+upaIaqHMvq8nEeEl/7n5\n+wtjuKoghX8dqsakCaVrmvWJjbEENWxAkAcTPZ7NxKU7WL49lRevb89FjQs/3vX4U8O57GQKkw9U\n5tcla7zYQv8r6gOk/3D7eh3oC/j2flIZkJuQAEBIixberSevgPHzY3n1uy1c1b4es+/vSc0qpe/e\nujlTlwtq8fXYXhSoMvzD1fy0NeX8O3nQdxv3c+vHkdQND+HL+3pQr5pnPqwEBgXy/qtjuDI/hSlp\n4UwuRcHneGys12+zzVqzm38ti2NktyaM6VG0h6ADAgJ4769DqJ97hIcW72Xr+rK3KkRhlXRqRxiu\nVAnGTY4TeIKbey8mHzx8gjEzIvlq7V4e7d+SaaO7+GzKtPGMtvWrMe/BS6lfLZR7ZkYzbt5GsnPy\nvFqnqjJteTyPfBnDxY2qM+/BS2lQvbJH66gUEswHr42hf34yk9PCefftL/0+bpGXkcHJvXupfLH3\nnt/5YVMy/7VgEwPaRfDajYXLc3W6WvVr89nd3RBV7pq13mP5nUqboo7xxDqLg24Ukc3AdmCKd5pW\nduUmJBJYowZBNb0zO2VVXBqD3/uV2H1ZTBnZiaevblPmn/SvqJrUCmPBI715sG8Lvo7ey8DJv7Am\nId0rdR3NyePpr3/n7R+2cX3Hhnx+bw9qeamHXCkkmA9fu42rClKYmlGdZ16cyckc/81D8vaDo2sS\n0nn8qxg6NanBP0ddQlAxJmic0uri1nx0Q3MyAitz2+QfyUrP8mBLS4ei/u+cWhT0elzppRuq6j89\n3qoyLichnmAv3GbLyy9g8o87GD0jkhphlVj4SG+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      "text/plain": [
       "<matplotlib.figure.Figure at 0x7f10686dd050>"
      ]
     },
     "metadata": {},
     "output_type": "display_data"
    }
   ],
   "source": [
    "plt.plot(int_data['K'][:, 0], c='C3', label=\"Controllable sets K[]\")\n",
    "plt.plot(int_data['K'][:, 1], c='C3')\n",
    "plt.plot(int_data['sd'] ** 2, label=\"Parametrization x*\")\n",
    "plt.legend()\n",
    "plt.xlabel(\"Stage i\")\n",
    "plt.ylabel(\"Squared path velocity $x:=\\dot s^2$\")\n",
    "plt.show()"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "kernelspec": {
   "display_name": "Python 2",
   "language": "python",
   "name": "python2"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
    "version": 2
   },
   "file_extension": ".py",
   "mimetype": "text/x-python",
   "name": "python",
   "nbconvert_exporter": "python",
   "pygments_lexer": "ipython2",
   "version": "2.7.12"
  },
  "latex_envs": {
   "LaTeX_envs_menu_present": true,
   "autoclose": false,
   "autocomplete": true,
   "bibliofile": "biblio.bib",
   "cite_by": "apalike",
   "current_citInitial": 1,
   "eqLabelWithNumbers": true,
   "eqNumInitial": 1,
   "hotkeys": {
    "equation": "Ctrl-E",
    "itemize": "Ctrl-I"
   },
   "labels_anchors": false,
   "latex_user_defs": false,
   "report_style_numbering": false,
   "user_envs_cfg": false
  },
  "toc": {
   "nav_menu": {},
   "number_sections": true,
   "sideBar": true,
   "skip_h1_title": false,
   "title_cell": "Table of Contents",
   "title_sidebar": "Contents",
   "toc_cell": true,
   "toc_position": {},
   "toc_section_display": true,
   "toc_window_display": false
  }
 },
 "nbformat": 4,
 "nbformat_minor": 2
}
